Skip to main content Accessibility help
×
Home

GM-VPC: An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition

  • Vishnu G. Nair (a1) and K. R. Guruprasad (a2)

Summary

In this paper we address the problem of coverage path planning (CPP) for multiple cooperating mobile robots. We use a ‘partition and cover’ approach using Voronoi partition to achieve natural passive cooperation between robots to avoid task duplicity. We combine two generalizations of Voronoi partition, namely geodesic-distance-based Voronoi partition and Manhattan-distance-based Voronoi partition, to address contiguity of partition in the presence of obstacles and to avoid partition-boundary-induced coverage gap. The region is divided into 2D×2D grids, where D is the size of the robot footprint. Individual robots can use any of the single-robot CPP algorithms. We show that with the proposed Geodesic-Manhattan Voronoi-partition-based coverage (GM-VPC), a complete and non-overlapping coverage can be achieved at grid level provided that the underlying single-robot CPP algorithm has similar property.We demonstrated using two representative single-robot coverage strategies, namely Boustrophedon-decomposition-based coverage and Spanning Tree coverage, first based on so-called exact cellular decomposition and second based on approximate cellular decomposition, that the proposed partitioning scheme completely eliminates coverage gaps and coverage overlaps. Simulation experiments using Matlab and V-rep robot simulator and experiments with Fire Bird V mobile robot are carried out to validate the proposed coverage strategy.

Copyright

Corresponding author

*Corresponding author. E-mail: kgrprao@gmail.com

References

Hide All
1. Weiss-Cohen, M., Sirotin, I. and Rave, E., “Lawn Mowing System for Known Areas,2008 International Conference on Computational Intelligence for Modelling Control Automation, Vienna, Austria (2008) pp. 539544.
2. Keith, L. D. and Harrison, R. R., “Sweep strategies for a sensory-driven, behavior-based vacuum cleaning agent,” AAAI 1993 Fall Symposium Series (1993) pp. 1–6.
3. Ma, J., Liu, H. and Huang, W., “Sensor-based complete coverage path planning in dynamic environment for cleaning robot,CAAI Trans. Intell. Technol. 3(1), 6572 (2018).
4. Dasgupta, P., Munoz-Melendez, A. and Guruprasad, K. R., “Multirobot Terrain Coverage and Task Allocation for Autonomous Detection of Landmines,Proceedings of SPIE 8359, Sensors, and Command, Control, Communications, and Intelligence (C3I), Maryland, United States (2012).
5. Howie, C., “Coverage for robotics–a survey of recent results,Ann. Math. Art. Intell. 31(1–4), 113126 (2001).
6. Galceran, E. and Carreras, M., “A survey on coverage path planning for robotics,Robot. Auto. Syst. 61(12), 12581276 (2013).
7. Jager, M. and Nebel, B., “Dynamic Decentralized Area Partitioning for Cooperating Cleaning Robots,Proceedings of IEEE International Conference on Robotics and Automation, Washington, DC, vol. 4 (2002) pp. 35773582.
8. Rankin, E. S., Rekleitis, I., New, A. P. and Choset, H., “Efficient boustrophedon multi-robot coverage: an algorithmic approach,Ann. Math. Art. Intell. 52, 109142 (2008).
9. Hazon, N. and Kaminka, G. A., “On redundancy, efficiency, and robustness in coverage for multiple robots,Robot. Auto. Syst. 56, 11021114 (2008).
10. Agmon, N., Hazon, N. and Kaminka, G. A., “The giving tree: Constructing trees for efficient offline and online multi-robot coverage,Ann. Math. Art. Intell. 52(2–4), 43168 (2009).
11. Zheng, X., Koenig, S., Kempe, D. and Jain, S., “Multirobot forest coverage for weighted and unweighted terrain,IEEE Trans. Robot . 26(6), 10181031 (2010).
12. Wilson, Z., Whipple, T. and Dasgupta, P., “Multi-robot Coverage with Dynamic Coverage Information Compression,Proceedings of 8th International Conference on Informatics in Control, Automation and Robotics, Noordwijkerhout, The Netherlands (2011) pp. 236241.
13. Michel, D. and McIsaac, K., “New Path Planning Scheme for Complete Coverage of Mapped Areas by Single and Multiple Robots,In: Proceedings of International Conference on Mechatronics and Automation (ICMA), Chengdu, China (IEEE, 2012) pp. 12331240.
14. Macharet, D., Azpurua, H., Freitas, G. and Campos, M., “Multi-robot coverage path planning using hexagonal segmentation for geophysical surveys,Robotica 36(8), 11441166 (2018).
15. Min, T. W. and Yin, H. K., “A Decentralized Approach for Cooperative Sweeping by Multiple Mobile Robots,Proceedings of International Conference on Intelligent Robots and Systems, Victoria, BC, Canada (1998) pp. 380385.
16. Hert, S. and Lumelsky, V., “Polygon area decomposition for multiplerobot workspace division,Int. J. Comput. Geo. Appl. 8, 437466 (1998).
17. Guruprasad, K. R., Wilson, Z. and Dasgupta, P., “Complete Coverage of an Initially Unknown Environment by Multiple Robots Using Voronoi Partition,Proceedings of Advances in Control and Optimization of Dynamical Systems (ACODS), Bangalore, India (2012).
18. Bash, B. A. and Desnoyers, P. J., “Exact Distributed Voronoi Cell Computation in Sensor Networks,Proceedings of the Sixth IEEE/ACM Conference On Information Processing in Sensor Networks, Cambridge, MA (2007) pp. 236243.
19. Guruprasad, K. R. and Dasgupta, P., “Distributed Voronoi Partitioning forMulti-robot Systems with Limited Range Sensors,Proceedings of IEEE/RSJ International Conference on Robotics and Intelligent Systems, Vilamoura, Portugal (2012) pp. 35463552.
20. Choset, H., “Coverage of known spaces: The boustrophedon cellular decomposition,Auto. Robot. 9(3), 247253 (2000).
21. Butler, Z. J., Rizzi, A. A. and Hollis, R. L., “Contact Sensor-Based Coverage of Rectilinear Environments,Proceedings of the IEEE International Symposium on Intelligent Control Systems and Semiotics, Cambridge, MA (1999) pp. 266271.
22. Latombe, J. C., Robot Motion Planning (Kluwer Academic Publishers, Dordrecht, The Netherlands, 1991).
23. Gabriely, Y. and Rimon, E., “Spanning-tree based coverage of continuous areas by a mobile robot,Ann. Math. Art. Intell. 31(1–4), 7798 (2001).
24. Gabriely, Y. and Rimon, E., “Competitive on-line coverage of grid environments by amobile robot,Comput. Geo. 24(3), 197224 (2003).
25. Gonzalez, E., Alvarez, O., Diaz, Y., Parra, C. and Bustacara, C., “BSA: A Complete Coverage Algorithm,Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, Barcelona, Spain (IEEE, 2005) pp. 20402044.
26. Ranjitha, T. D. and Guruprasad, K. R., “Pseudo Spanning Tree-Based Complete and Competitive Robot Coverage Using Virtual Nodes,IFACPapersOnLine: Proceedings of 4th IFAC Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), Tiruchirappalli, India (2016).
27. Ranjitha, T. D. and Guruprasad, K. R., “ST-CTC: A Spanning Tree-Based Competitive and Truly Complete Coverage Algorithm for Mobile Robots,Proceedings of Advances in Robotics, 2nd International Conference of Robotics Society of India, Goa, India (2015).

Keywords

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed